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<div class="title">D:/backups/Desktop/beagleoncreate/trunk/create/Create.h</div>  </div>
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<a href="_create_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef CREATE_H</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_H</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span><span class="preprocessor">#include &lt;sys/socket.h&gt;</span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &lt;netinet/in.h&gt;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &lt;netdb.h&gt;</span>
<a name="l00006"></a>00006 <span class="preprocessor">#include &quot;pthread.h&quot;</span>
<a name="l00007"></a>00007 <span class="preprocessor">#include &quot;../Packet.h&quot;</span>
<a name="l00008"></a>00008 
<a name="l00012"></a><a class="code" href="_create_8h.html#a41d4607b6994c76fc0629d494abbc960">00012</a> <span class="preprocessor">#define CREATE_PORT 8865</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a><a class="code" href="class_create.html">00014</a> <span class="keyword">class </span><a class="code" href="class_create.html" title="This class handles all serial communication with iRobot Create.">Create</a>
<a name="l00015"></a>00015 {
<a name="l00016"></a>00016 <span class="keyword">public</span>:
<a name="l00017"></a>00017         <a class="code" href="class_create.html#a79756896dc7f6de947bbeecdbeb94bfa" title="A constructor for Create class. The serial communication is initialized here.">Create</a>();
<a name="l00018"></a>00018         <a class="code" href="class_create.html#a6060fda2b105228446ddddb09f63d127" title="A destructor for Create class. The serial communication is cleaned up here.">~Create</a>();
<a name="l00019"></a>00019         
<a name="l00020"></a>00020         <span class="keywordtype">int</span> <a class="code" href="class_create.html#acc906e7c65f7b91f011adaa45bf652be" title="To initialize the serial communication.">InitSerial</a>();
<a name="l00021"></a>00021         <span class="keywordtype">void</span> <a class="code" href="class_create.html#a1b555aba9e9c33a6f8de93344d5c22e2" title="Close the serial communication.">CloseSerial</a>();
<a name="l00022"></a>00022         <span class="keywordtype">int</span> <a class="code" href="class_create.html#ad442088b32aaa55178566a5656407dab" title="The serial handler to listen anything coming from the iRobot Create or write serial to it...">RunSerialHandler</a>();
<a name="l00023"></a>00023         <span class="keywordtype">int</span> <a class="code" href="class_create.html#a42b1e389224467d747cb78a0bf7ad09e" title="The main loop of the TCP listener.">RunTCPListener</a>();
<a name="l00024"></a>00024         
<a name="l00026"></a><a class="code" href="class_create.html#a6b8a79735fb48ee8508b0bfc069f3b2c">00026</a>         <span class="keywordtype">bool</span> <a class="code" href="class_create.html#a6b8a79735fb48ee8508b0bfc069f3b2c">isEnding</a>;
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="keyword">private</span>:
<a name="l00029"></a>00029         <span class="keywordtype">int</span> _fd;
<a name="l00030"></a>00030         <span class="keywordtype">int</span> _sock;
<a name="l00031"></a>00031         <span class="keywordtype">int</span> _bufLength;
<a name="l00032"></a>00032         <span class="keywordtype">char</span> _buf[<a class="code" href="_packet_8h.html#ac5b738d467a1bbf9325bcc0eaf4f5efa">MAXPACKETSIZE</a>];
<a name="l00033"></a>00033 
<a name="l00034"></a>00034         pthread_mutex_t _serialMutex;
<a name="l00035"></a>00035 };
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#endif</span>
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